Commit 38475568 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

filtering supertiles connections

parent be191b98

src/main/java/ConnectionCosts.java

+131 −14
Original line number Diff line number Diff line
@@ -72,9 +72,31 @@ public class ConnectionCosts { 
		this.steps =           steps;

	}

	

	public int [][][] setStarValues( // also initConnectionCosts() 

			int []    nsTiles,

			int       debugLevel)

	{

		return initConnectionCosts(

				true, // boolean set_start_planes,

				nsTiles,

				debugLevel);

	}



	

	public int [][][] initConnectionCosts(

			int []    nsTiles,

			int       debugLevel)

	{

		return initConnectionCosts(

				false, // boolean set_start_planes,

				nsTiles,

				debugLevel);

	}



	public int [][][] initConnectionCosts(

			boolean set_start_planes,

			int []    nsTiles,

			int       debugLevel)

	{

		int [] exp_tiles = nsTiles;

		for (int i = 1; i < steps; i++) exp_tiles = getInvolvedSupertiles(exp_tiles);
@@ -115,16 +137,19 @@ public class ConnectionCosts { 
		switch (steps){

		case 1:

			val_weights = getConnectionsCostSingleStep (

					set_start_planes,

					null,	

					debugLevel - 1); // int        debugLevel)

			break;

		case 2:

			val_weights = getConnectionsCostDualStep (

					set_start_planes,

					null,	

					debugLevel - 1); // int        debugLevel)

			break;

		default:

			val_weights = getConnectionsCostSingleStep (

					set_start_planes,

					null,	

					debugLevel - 1); // int        debugLevel)			

		}
@@ -155,6 +180,9 @@ public class ConnectionCosts { 
		

		return neibs_init; // neighbors to clone

	}



	

	

	public double [] getValWeightLast(

			int nsTile,

			int nl,
@@ -186,6 +214,7 @@ public class ConnectionCosts { 
	}

	

	public double [][][] getConnectionsCostSingleStep (

			boolean set_start_planes,

			int [][][] neibs,	

			int        debugLevel)

	{
@@ -211,6 +240,23 @@ public class ConnectionCosts { 
								}

							}

							if (neibs_changed){

								TilePlanes.PlaneData star_plane = getStarPlane(

										nsTile,

										nl,

										neibs[isTile][nl],

										orthoWeight,

										diagonalWeight,

										starPwr, // double         starPwr,    // Divide cost by number of connections to this power

										starWeightPwr, 

										tnSurface,

										preferDisparity,

										-1); // debugLevel);

								if (set_start_planes){

									planes[nsTile][nl].setStarPlane(star_plane);

								}

								vw[isTile][nl] = star_plane.getStarValueWeightDensity();

								

/*								

								vw[isTile][nl] = getStarValueWeight(

										nsTile,

										nl,
@@ -222,6 +268,7 @@ public class ConnectionCosts { 
										tnSurface,

										preferDisparity,

										-1); // debugLevel);

*/										

							} else {

								vw[isTile][nl] = val_weights[isTile][nl];

							}
@@ -238,6 +285,7 @@ public class ConnectionCosts { 
	}



	public double [][][] getConnectionsCostDualStep (

			boolean set_start_planes,

			int [][][] neibs,	

			int        debugLevel)

	{
@@ -270,17 +318,6 @@ public class ConnectionCosts { 
									int ineib1 = (tile_map.containsKey(nsTile1))? tile_map.get(nsTile1) : -1;

									neibs2[dir] = (ineib1 >=0) ? neibs[tile_map.get(nsTile1)][nl1] : planes[nsTile1][nl1].getNeibBest();

									if (!neibs_changed && (ineib1 >= 0)) {

										/*

										if ((neibs_init[ineib1] == null) || (neibs_init[ineib1][nl1] == null)) {

											neibs_changed = true;

										} else {

											for (int dir1 = 0; dir1 < 8; dir1++) if (neibs[ineib1][nl1][dir1] != neibs_init[ineib1][nl1][dir1]){

												neibs_changed = true;

												break;

											}

										}



										 */

										if ((neibs_init[ineib1] == null) || (neibs[ineib1][nl1] == null)) {

											neibs_changed = true;

										} else {
@@ -294,6 +331,23 @@ public class ConnectionCosts { 
							}

							

							if (neibs_changed){

								TilePlanes.PlaneData star_plane = getStarPlane2(

										nsTile,

										nl,

										neibs0,

										neibs2,

										orthoWeight,

										diagonalWeight,

										starPwr, // double         starPwr,    // Divide cost by number of connections to this power

										starWeightPwr, //

										tnSurface,

										preferDisparity,

										-1); // debugLevel);

								if (set_start_planes){

									planes[nsTile][nl].setStarPlane(star_plane);

								}

								vw[isTile][nl] = star_plane.getStarValueWeightDensity();

/*

								vw[isTile][nl] = getStarValueWeight2(

										nsTile,

										nl,
@@ -306,6 +360,7 @@ public class ConnectionCosts { 
										tnSurface,

										preferDisparity,

										-1); // debugLevel);

*/										

							} else {

								vw[isTile][nl] = val_weights[isTile][nl];

							}
@@ -360,16 +415,19 @@ public class ConnectionCosts { 
		switch (steps){

		case 1:

			vw = getConnectionsCostSingleStep (

					false,

					neibs,	

					debugLevel-1); // int        debugLevel)

			break;

		case 2:

			vw = getConnectionsCostDualStep (

					false,

					neibs,	

					debugLevel-1); // int        debugLevel)

			break;

		default:

			vw = getConnectionsCostSingleStep (

					false,

					neibs,	

					debugLevel-1); // int        debugLevel)			

		}
@@ -426,6 +484,31 @@ public class ConnectionCosts { 
			TileSurface.TileNeibs tnSurface,

			boolean preferDisparity,

			int    debugLevel)

	{

		return getStarPlane(

				nsTile,

				nl,

				neibs,

				orthoWeight,

				diagonalWeight,

				starPwr,    // Divide cost by number of connections to this power

				starWeightPwr,    // Use this power of tile weight when calculating connection cost

				tnSurface,

				preferDisparity,

				debugLevel).getStarValueWeightDensity();

	}



	TilePlanes.PlaneData getStarPlane(

			int    nsTile,

			int    nl,

			int [] neibs,

			double orthoWeight,

			double diagonalWeight,

			double starPwr,    // Divide cost by number of connections to this power

			double   starWeightPwr,    // Use this power of tile weight when calculating connection cost

			TileSurface.TileNeibs tnSurface,

			boolean preferDisparity,

			int    debugLevel)

	{

		TilePlanes.PlaneData merged_plane = planes[nsTile][nl]; // add weight

		double conn_weight = 1.0; // center weight
@@ -450,9 +533,11 @@ public class ConnectionCosts { 
		if (starPwr != 0){

			value_weight[0] /= (Math.pow((planes[nsTile][nl].getNumNeibBest() + 1.0), starPwr));

		}

		return value_weight;

		merged_plane.setStarValueWeight(value_weight);

		return merged_plane;

	}



	

	/**

	 * Calculate main eigenvalue of the current plane and all connected ones - used to estimate advantage of connection swap

	 * This version uses two steps - not only directly connected, but neighbors' neighbors also, multiple paths to the same
@@ -484,6 +569,34 @@ public class ConnectionCosts { 
			TileSurface.TileNeibs tnSurface,

			boolean preferDisparity,

			int     debugLevel)

	{

		return getStarPlane2(

				nsTile,

				nl,

				neibs,

				neibs2, // neighbors' neighbors

				orthoWeight,

				diagonalWeight,

				starPwr,    // Divide cost by number of connections to this power

				starWeightPwr,    // Use this power of tile weight when calculating connection cost

				tnSurface,

				preferDisparity,

				debugLevel).getStarValueWeightDensity();

	}



	

	TilePlanes.PlaneData getStarPlane2(

			int      nsTile,

			int      nl,

			int []   neibs,

			int [][] neibs2, // neighbors' neighbors

			double   orthoWeight,

			double   diagonalWeight,

			double   starPwr,    // Divide cost by number of connections to this power

			double   starWeightPwr,    // Use this power of tile weight when calculating connection cost

			TileSurface.TileNeibs tnSurface,

			boolean preferDisparity,

			int     debugLevel)

	{

		double [] dir_weight = {orthoWeight,  diagonalWeight, orthoWeight,  diagonalWeight, orthoWeight,  diagonalWeight, orthoWeight,  diagonalWeight};

		HashMap<Point, Double> tile_weights = new HashMap<Point, Double>();
@@ -529,9 +642,13 @@ public class ConnectionCosts { 
		if (starPwr != 0){

			value_weight[0] /= (Math.pow(tile_weights.size() + 1.0, starPwr));

		}

		return value_weight;

		merged_plane.setStarValueWeight(value_weight);

		return merged_plane;

		

	}

	

	

	

	/**

	 * Calculate array of supertile indices that need to have connection cost recalculated when they are updated

	 * first entries of the result will be the same in input array

src/main/java/EyesisCorrectionParameters.java

+67 −5
Original line number Diff line number Diff line
@@ -2179,10 +2179,22 @@ public class EyesisCorrectionParameters { 
  		public double     plMaxWorldSin2       =   0.1;  // Maximal sine squared of the world angle between planes to merge. Set to >= 1.0 to disable

  		public double     plWeakWorsening      =   1.0;  // Relax merge requirements for weaker planes

  		public double     plMaxOverlap         =   0.1;  // Maximal overlap between the same supertile planes to merge

  		// Merge same supetile planes if at least one is weak and they do not differ much

  		public double     plWeakWeight         =   0.2 ; // Maximal weight of the weak plane to merge

  		public double     plWeakEigen          =   0.1;  // Maximal eigenvalue of the result of non-weighted merge

  		public double     plWeakWeight2        =  10.0 ; // Maximal weight of the weak plane to merge (second variant)

  		public double     plWeakEigen2         =   0.05; // Maximal eigenvalue of the result of non-weighted merge  (second variant)



  		public double     plMaxZRatio          =   2.0;  // Maximal ratio of Z to allow plane merging

  		public double     plMaxDisp            =   0.6;  // Maximal disparity of one of the planes to apply  maximal ratio

  		public double     plCutTail            =   1.4;  // When merging with neighbors cut the tail that is worse than scaled best

  		public double     plMinTail            =   0.015;// Set cutoff value livel not less than



  		// comparing merge quality for plane pairs

  		public double     plCostKrq            =   0.8;  // cost of merge quality weighted

  		public double     plCostKrqEq          =   0.2;  // cost of merge quality equal weight

  		public double     plCostKrq            =   0.8;  // cost of merge quality weighted in disparity space

  		public double     plCostKrqEq          =   0.2;  // cost of merge quality equal weight in disparity space

  		public double     plCostWrq            =   0.8;  // cost of merge quality weighted in world space

  		public double     plCostWrqEq          =   0.2;  // cost of merge quality equal weight  in world space

  		public double     plCostSin2           =  10.0;  // cost of sin squared between normals

  		public double     plCostRdist2         =1000.0;  // cost of squared relative distances
@@ -2556,8 +2568,20 @@ public class EyesisCorrectionParameters { 
			properties.setProperty(prefix+"plWeakWorsening",  this.plWeakWorsening +"");

			properties.setProperty(prefix+"plMaxOverlap",     this.plMaxOverlap +"");



			properties.setProperty(prefix+"plWeakWeight",     this.plWeakWeight +"");

			properties.setProperty(prefix+"plWeakEigen",      this.plWeakEigen +"");

			properties.setProperty(prefix+"plWeakWeight2",    this.plWeakWeight2 +"");

			properties.setProperty(prefix+"plWeakEigen2",     this.plWeakEigen2 +"");

			

			properties.setProperty(prefix+"plMaxZRatio",      this.plMaxZRatio +"");

			properties.setProperty(prefix+"plMaxDisp",        this.plMaxDisp +"");

			properties.setProperty(prefix+"plCutTail",        this.plCutTail +"");

			properties.setProperty(prefix+"plMinTail",        this.plMinTail +"");



			properties.setProperty(prefix+"plCostKrq",        this.plCostKrq +"");

			properties.setProperty(prefix+"plCostKrqEq",      this.plCostKrqEq +"");

			properties.setProperty(prefix+"plCostWrq",        this.plCostWrq +"");

			properties.setProperty(prefix+"plCostWrqEq",      this.plCostWrqEq +"");

			properties.setProperty(prefix+"plCostSin2",       this.plCostSin2 +"");

			properties.setProperty(prefix+"plCostRdist2",     this.plCostRdist2 +"");
@@ -2909,8 +2933,20 @@ public class EyesisCorrectionParameters { 
  			if (properties.getProperty(prefix+"plWeakWorsening")!=null)   this.plWeakWorsening=Double.parseDouble(properties.getProperty(prefix+"plWeakWorsening"));

  			if (properties.getProperty(prefix+"plMaxOverlap")!=null)      this.plMaxOverlap=Double.parseDouble(properties.getProperty(prefix+"plMaxOverlap"));



  			if (properties.getProperty(prefix+"plWeakWeight")!=null)      this.plWeakWeight=Double.parseDouble(properties.getProperty(prefix+"plWeakWeight"));

  			if (properties.getProperty(prefix+"plWeakEigen")!=null)       this.plWeakEigen=Double.parseDouble(properties.getProperty(prefix+"plWeakEigen"));

  			if (properties.getProperty(prefix+"plWeakWeight2")!=null)     this.plWeakWeight2=Double.parseDouble(properties.getProperty(prefix+"plWeakWeight2"));

  			if (properties.getProperty(prefix+"plWeakEigen2")!=null)      this.plWeakEigen2=Double.parseDouble(properties.getProperty(prefix+"plWeakEigen2"));

  			

  			if (properties.getProperty(prefix+"plMaxZRatio")!=null)       this.plMaxZRatio=Double.parseDouble(properties.getProperty(prefix+"plMaxZRatio"));

  			if (properties.getProperty(prefix+"plMaxDisp")!=null)         this.plMaxDisp=Double.parseDouble(properties.getProperty(prefix+"plMaxDisp"));

  			if (properties.getProperty(prefix+"plCutTail")!=null)         this.plCutTail=Double.parseDouble(properties.getProperty(prefix+"plCutTail"));

  			if (properties.getProperty(prefix+"plMinTail")!=null)         this.plMinTail=Double.parseDouble(properties.getProperty(prefix+"plMinTail"));

  			

  			if (properties.getProperty(prefix+"plCostKrq")!=null)         this.plCostKrq=Double.parseDouble(properties.getProperty(prefix+"plCostKrq"));

  			if (properties.getProperty(prefix+"plCostKrqEq")!=null)       this.plCostKrqEq=Double.parseDouble(properties.getProperty(prefix+"plCostKrqEq"));

  			if (properties.getProperty(prefix+"plCostWrq")!=null)         this.plCostWrq=Double.parseDouble(properties.getProperty(prefix+"plCostWrq"));

  			if (properties.getProperty(prefix+"plCostWrqEq")!=null)       this.plCostWrqEq=Double.parseDouble(properties.getProperty(prefix+"plCostWrqEq"));

  			if (properties.getProperty(prefix+"plCostSin2")!=null)        this.plCostSin2=Double.parseDouble(properties.getProperty(prefix+"plCostSin2"));

  			if (properties.getProperty(prefix+"plCostRdist2")!=null)      this.plCostRdist2=Double.parseDouble(properties.getProperty(prefix+"plCostRdist2"));
@@ -3290,9 +3326,23 @@ public class EyesisCorrectionParameters { 
  			gd.addNumericField("Relax merge requirements for weaker planes",                                   this.plWeakWorsening,  6);

  			gd.addNumericField("Maximal overlap between the same supertile planes to merge",                   this.plMaxOverlap,  6);



  			gd.addMessage     ("--- Merge same supetile planes if at least one is weak and they do not differ much ---");

  			gd.addNumericField("Maximal weight of the weak plane to merge (first variant)",                    this.plWeakWeight,  6);

  			gd.addNumericField("Maximal eigenvalue of the result of non-weighted merge (first variant)",       this.plWeakEigen,  6);

  			gd.addNumericField("Maximal weight of the weak plane to merge (second variant)",                   this.plWeakWeight2,  6);

  			gd.addNumericField("Maximal eigenvalue of the result of non-weighted merge (second variant)",      this.plWeakEigen2,  6);



  			gd.addMessage     ("---  ---");

  			gd.addNumericField("Maximal ratio of Z to allow plane merging",                                    this.plMaxZRatio,  6);

  			gd.addNumericField("Maximal disparity of one of the planes to apply  maximal ratio",               this.plMaxDisp,  6);

  			gd.addNumericField("When merging with neighbors cut the tail that is worse than scaled best",      this.plCutTail,  6);

  			gd.addNumericField("Set cutoff value livel not less than this",                                    this.plMinTail,  6);

  			

  			gd.addMessage     ("--- Planes merge costs ---");

  			gd.addNumericField("Cost of merge quality weighted",                                               this.plCostKrq,     6);

  			gd.addNumericField("Cost of merge quality equal weight",                                           this.plCostKrqEq,   6);

  			gd.addNumericField("Cost of merge quality weighted in disparity space",                            this.plCostKrq,     6);

  			gd.addNumericField("Cost of merge quality equal weight in disparity space",                        this.plCostKrqEq,   6);

  			gd.addNumericField("Cost of merge quality weighted in world space",                                this.plCostWrq,     6);

  			gd.addNumericField("Cost of merge quality equal weight in world space",                            this.plCostWrqEq,   6);

  			gd.addNumericField("Cost of sin squared between normals",                                          this.plCostSin2,    6);

  			gd.addNumericField("Cost of squared relative plane-to-other-center distances",                     this.plCostRdist2,  6);
@@ -3657,8 +3707,20 @@ public class EyesisCorrectionParameters { 
  			this.plWeakWorsening=       gd.getNextNumber();

  			this.plMaxOverlap=          gd.getNextNumber();



  			this.plWeakWeight=          gd.getNextNumber();

  			this.plWeakEigen=           gd.getNextNumber();

  			this.plWeakWeight2=         gd.getNextNumber();

  			this.plWeakEigen2=          gd.getNextNumber();



  			this.plMaxZRatio=           gd.getNextNumber();

  			this.plMaxDisp=             gd.getNextNumber();

  			this.plCutTail=             gd.getNextNumber();

  			this.plMinTail=             gd.getNextNumber();



  			this.plCostKrq=             gd.getNextNumber();

  			this.plCostKrqEq=           gd.getNextNumber();

  			this.plCostWrq=             gd.getNextNumber();

  			this.plCostWrqEq=           gd.getNextNumber();

  			this.plCostSin2=            gd.getNextNumber();

  			this.plCostRdist2=          gd.getNextNumber();